Abstract：This paper adopts the screw theory to analyze and synthesize the problem of constraints and motion of parallel manipulator.The movement track of the moving platform is educed under different kinds of constraints.This work provides a feasible theory thereunder in the displacement analysis of parallel manipulator in advance research.
[1] Fang Y F, Tsai L W. Analytical identification of limb structures for translational parallel manipulators [J]. Journal of Robotic Systems,2004,21(5):209-218. [2] Fang Y F, Tsai L W. Structure synthesis of a class of 3-DOF rotational parallel manipulators[J]. IEEE Transactions on Robotics and Automation,2004,20(1):117-121. [3] Fang Y F, Tsai L W. Structuire synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures[J]. The International Journal of Robotics Research, 2002,21(9):799-810. [4] Herve J M, Sparacino E. Structural synthesis of parallel robots generating spatial translation[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. USA:IEEE, 1992.808-813. [5] Kong X, G osselin C M. Generation of parallel manipulators with three translational degrees of fre edom based on screw theory[A]. Proceedings of 2001 CCToMM Symposium on Mechanisms, Machines and Mechatronics [C]. http://www. cim. mcgill. caalexvit/sM3/Papers/M3-01-012. pdf, 2001. [6] Hunt K H. Kinematic Geometry of Mechanisms[M]. London, England:Oxford University Press, 1978. [7] 黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.
